论文部分内容阅读
A novel three-limbed robot was described and its motion planning method was discussed.After theintroduction of the robot mechanical structure and the human-robot interface,a two-grade search mecha-nism based motion planning method was proposed.The first-grade search method using genetic algorithmtries to find an optimized target position and orientation of the three-limbed robot.The second-gradesearch method using virtual compliance tries to avoid the collision between the three-limbed robot and ob-stacles in a dynamic environment.Experiment shows the feasibility of the two-grade search mechanismand proves that the proposed motion planning method can be used to solve the motion planning problem ofthe redundant three-limbed robot without deficiencies of traditional genetic algorithm.
A novel three-limbed robot was described and its motion planning method was discussed. After the introduction of the robot mechanical structure and the human-robot interface, a two-grade search mecha-nism based motion planning method was proposed. The first-grade search method using genetic algorithmtries to find an optimized target position and orientation of the three-limbed robot. The second-grade search method using virtual compliance tries to avoid the collision between the three-limbed robot and ob-stacles in a dynamic environment. feasibility of the two-grade search mechanismand proves that the proposed motion planning method can be used to solve the motion planning problem of the redundant three-limbed robot without deficiencies of traditional genetic algorithm.